Self-driving single-car train system

ABSTRACT

A train system having a train element consisting of a single train car configured to travel along a rail system, and including an enclosed first use area and a flat car section. The flat car section includes a drive-on loading area configured to enable a vehicle to be driven onto the flat car section and then transported by the train car. Train element includes a drive system for moving the train element along the rail system and a control system for autonomously controlling the operation of the train car. A sensor system collects sensor data and provides the sensor data, as inputs, to the control system. Sensor data is used by the control system in operating the train car. Lastly, a power system independently powers the drive system and control system.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional of Application Ser. No. 16/705,805,entitled SELF-DRIVING SINGLE-CAR TRAIN SYSTEM and filed Dec. 6, 2019,the entire contents of which is incorporated herein by reference.

TECHNICAL FIELD

This invention relates generally to transportation by rail. Moreparticularly, the invention relates to self-powered single train carsand a digitally-linked multi-train car system for autonomous commercialand passenger transport over an open rail network.

BACKGROUND OF THE INVENTION

Daily transportation of bulk cargo and people, while necessary, requiressignificant limited resources, including time, manpower, expense, andspace. In many locations, a large percentage of the daily road trafficconsists of local commuters. As cities grow, local traffic becomes anincreasingly bigger concern that must be addressed. Adding to theproblem of handling daily local traffic, roadways must also be equippedto handle non-local traffic that is passing through area or that isleaving or entering the area from a remote location. This would include,for example, transportation of goods via large trailers and also touristtraffic. This impacts certain areas more than others. Areas that areimpacted by this type of traffic includes those havingheavily-trafficked interstate exchanges, those with manufacturingfacilities that require goods to be shipped into and out of the area,and areas with tourist locations.

A common response to these traffic problems is to expand the capacity ofroadways (e.g., adding vehicle lanes, etc.). However, this solution iscostly and requires significant planning and time to implement.Additionally, construction sites are dangerous and are a disruption tonormal traffic patterns that often lasts for years. Other methods foralleviating traffic issues is to make roadways, vehicles and drivingpatterns more effective at responding to traffic. For example, certaincities have constructed special express lanes that are reserved for onegroup of vehicles (e.g., local traffic) while leaving standard roadwaysfor other traffic (e.g., non-local/interstate traffic).

More recently, the idea of platooning vehicles has arisen as a possiblesolution for traffic issues. Vehicle platooning is a proposed method forpartially or fully autonomously operating a group of road vehiclestogether, with narrow gaps provided between adjacent vehicles.Platooning is proposed to reduce fuel consumption, improve safety andtraffic efficiency, etc. A number of vehicle platooning systems havebeen proposed, including Project SARTRE (Safe Road Trains for theEnvironment), which defines a platoon (or “road train”) as a collectionof electronically-linked “slave vehicles” that automatically follow amanually-driven heavy lead vehicle on conventional roadways. Anotherproject, PATH, has focused on platooning fully automated heavy trucks ina close formation and in a dedicated lane of traffic in order toincrease traffic capacity, reduce energy costs, and to improve safety.To be automated, many of these proposed systems require sophisticatedsensor systems that provide both longitudinal control (i.e., controllingthe distance between one vehicle and vehicles adjacent that vehicle) andlateral control (i.e., controlling the positioning of the vehicle withintraffic lanes) of the vehicles. In other cases, extensive modificationsor additions to the existing road surface are required (e.g., magneticmarkers for use in the lateral control of vehicles, dedicated trafficlanes).

Finally, transportation of bulk cargo and people via rail has also beenused in the past. Typically, trains are comprised of several train carsthat are linked together and that hold cargo and passengers. These carsare pulled along train tracks by one or more locomotives. Transportationof cargo by rail is typically more fuel efficient and more economicalthan transportation of that cargo by road vehicle. This is particularlytrue when large cargo loads are transferred over long distances, but isnot true for small loads or short distances. For this reason,transportation by rail is often reserved for long distance travel oflarge loads. A main disadvantage of rail transport is the lack offlexibility. Since trains are confined to travel on rails, trains mayonly be used to transport cargo and passengers where rails exist,whereas transport by road is highly flexible.

Another disadvantage of rail transport is that loading a train is timeand labor intensive. For example, many goods transported from a factoryare often initially loaded onto a truck at the factory by hand,transported to a rail yard on the truck, unloaded from the truck andthen loaded onto the train by hand. To maximize cost and efficiency ofthe train, this process is repeated numerous times to prepare severaltrain cars for simultaneous transport as part of a single train.However, before the train can depart, the train cars must then beorganized and connected in a specific order. They are typically groupedbased on their final destination, with train cars intended for the samefinal destination being connected together. At each of the finaldestinations, goods are, again, manually unloaded from the train car andloaded onto transport vehicles.

What is needed, therefore, is a system and method for transporting cargoand people that addresses the above issues.

NOTES ON CONSTRUCTION

The use of the terms “a”, “an”, “the” and similar terms in the contextof describing the invention are to be construed to cover both thesingular and the plural, unless otherwise indicated herein or clearlycontradicted by context. The terms “comprising”, “having”, “including”and “containing” are to be construed as open-ended terms (i.e., meaning“including, but not limited to,”) unless otherwise noted. The terms“substantially”, “generally” and other words of degree are relativemodifiers intended to indicate permissible variation from thecharacteristic so modified. The use of such terms in describing aphysical or functional characteristic of the invention is not intendedto limit such characteristic to the absolute value which the termmodifies, but rather to provide an approximation of the value of suchphysical or functional characteristic.

Terms concerning attachments, coupling and the like, such as “connected”and “interconnected”, refer to a relationship wherein structures aresecured or attached to one another either directly or indirectly throughintervening structures, as well as both moveable and rigid attachmentsor relationships, unless specified herein or clearly indicated bycontext. The term “operatively connected” is such an attachment,coupling or connection that allows the pertinent structures to operateas intended by virtue of that relationship.

The use of any and all examples or exemplary language (e.g., “such as”and “preferably”) herein is intended merely to better illuminate theinvention and the preferred embodiment thereof, and not to place alimitation on the scope of the invention. Nothing in the specificationshould be construed as indicating any element as essential to thepractice of the invention unless so stated with specificity.

BRIEF SUMMARY OF THE INVENTION

The above and other needs are met by a train system that includes atrain element consisting of a single train car configured to travelalong a rail system. Each train element includes an enclosed first usearea located at a first end of the train car and a flat car section. Theflat car section includes a drive-on loading area located at a secondend of the train car opposite the first use area. The loading area isconfigured to enable a vehicle to be driven onto the flat car sectionand then transported by the train car. The train elements also include adrive system configured to move the train element along the rail systemand a control system configured to autonomously control the operation ofthe train car. A sensor system collects sensor data and provides thesensor data, as inputs, to the control system. The sensor data is usedby the control system in operating the train car. Lastly, a power systemindependently powers the drive system and control system.

In certain embodiments, the train system includes two or more trainelements that are configured to be digitally connected together to forma digital train. In some cases, a first one of the two or more trainelements is a master train element that leads the other of the two ormore train elements when the digital train is traveling along the railsystem in a first direction. However, when the digital train istraveling along the rail system in a second direction, a second one ofthe two or more train elements is the master train element that leadsthe other of the two or more train elements. In certain preferredembodiments, the control system of the master train at least partiallycontrols the speed and direction of the at least one slave trainelement. In some embodiments, each of the two or more train elements isprovided with a unique identifier (e.g., a QR code) that is wirelesslydetectable by the sensor system of the other of the two or more trainelements within a predefined distance. In some embodiments, each of thetwo or more train elements travel along an open rail network and eachtrain element may be separately programmed with a unique destination.

According to certain embodiments of the invention, the flat car sectionis enclosed. In certain embodiments, a second (preferably enclosed) usearea is located between the first (preferably enclosed) use area and theflat car section. In some embodiments, the flat car section includes afirst flat car section joined, at a articulating joint, to a second flatcar section such that, when the flat car section travels along astraight portion of the rail system, longitudinal axes of the first flatcar section and second flat car section are parallel with one anotherand, when the flat car section travels along a curved portion of therail system, the flat car section flexes at the articulating joint suchthat the longitudinal axis of the first flat car section is not parallelwith the longitudinal axis of the second flat car section. The flat carsection of the train element may include a deck that is configured torotate towards a rail of the rail system by an angle Θ to allow avehicle to be driven onto the drive-on loading area from a side of therail system. The angle Θ may be between 0° and 30°. In certain preferredembodiments, the first use area comprises an aerodynamic enclosednosecone configured to house one or more passengers. In certainembodiments, there is provided a vehicle restraint for removablyconnecting a vehicle to the flat car section.

Additionally, the above and other needs are met by a method foroperating train elements. The method includes the following steps:providing an open rail system and two or more of said train elements;providing a trip plan for each of the two or more train elements thatincludes instructions for traveling along the open rail system to afirst destination; moving the two or more train elements, independentlyof one another, along a portion of the rail system; and autonomouslycoupling the two or more train elements together to form a digital trainaccording to instructions provided by the trip plans. In certain cases,the digital train includes a master train element that leads the digitaltrain and at least one slave train element following the master trainelement. In those cases, the master train element determines the speedand direction of each train element of the digital train.

In some cases, at least one of the two or more train elements isconfigured to travel along the rail system to an intended seconddestination after reaching the first destination. In certain of thosecases, train elements automatically group into two separate groups thatare joined together as a single platoon. The groups are preferablyformed based on the first destination and second destination of thetrain elements, such that train elements having the same first andsecond destination form a platoon and are adjacent one another in thedigital train.

In some embodiments, prior to the first destination, which firstdestination divides the portion of the rail system on which the digitaltrain is traveling into two or more separate routes, including a firstroute and a second route, where the first route leads to the seconddestination of one of the at least two platoons and the second routeleads to the second destination of a second of the at least twoplatoons, the digital train is decoupled to form two digital trains thateach include one of the at least two platoons and that are each led by adifferent master train element. According to certain embodiments, themethod further includes the step of forming substantially uniform couplegaps of a first length between each adjacent pair of train elements inthe digital train. The method may further comprise forming a decouplegap having a second length between the two digital trains, wherein thesecond length is greater than the first length. In some embodiments, atleast one of the first length and the second length are speed dependent.

In order to facilitate an understanding of the invention, the preferredembodiments of the invention, as well as the best mode known by theinventor for carrying out the invention, are illustrated in thedrawings, and a detailed description thereof follows. It is notintended, however, that the invention be limited to the particularembodiments described or to use in connection with the apparatusillustrated herein. Therefore, the scope of the invention contemplatedby the inventor includes all equivalents of the subject matter describedherein, as well as various modifications and alternative embodimentssuch as would ordinarily occur to one skilled in the art to which theinvention relates. The inventor expects skilled artisans to employ suchvariations as seem to them appropriate, including the practice of theinvention otherwise than as specifically described herein. In addition,any combination of the elements and components of the inventiondescribed herein in any possible variation is encompassed by theinvention, unless otherwise indicated herein or clearly excluded bycontext.

BRIEF DESCRIPTION OF THE DRAWINGS

The presently preferred embodiments of the invention are illustrated inthe accompanying drawings, in which like reference numerals representlike parts throughout, and in which:

FIG. 1 is a side elevation view depicting a train car having a flat carsection for trailer storage area according to a first embodiment of thepresent invention;

FIG. 2 is a top-plan view depicting a train car having an articulatingflat car section according to a second embodiment of the presentinvention;

FIG. 3 is a top-plan view depicting a train car having a rotating flatcar section according to a third embodiment of the present invention;

FIGS. 4 and 5 depict a rail system having controlled portions and openportions according to an embodiment of the present invention;

FIG. 6 depicts a controlled portion of a rail network according to anembodiment of the present invention;

FIG. 7 depicts a remote control train system according to an embodimentof the present invention;

FIG. 8 depicts a digital train formed by two platoons operating in acommuting mode;

FIG. 9 depicts the digital train of FIG. 8 operating in a decouplingmode; and

FIG. 10 depicts the digital train of FIG. 8 operating in a separationmode at a diverging junction.

DETAILED DESCRIPTION OF THE INVENTION

This description of the preferred embodiments of the invention isintended to be read in connection with the accompanying drawings, whichare to be considered part of the entire written description of thisinvention. The drawings are not necessarily to scale, and certainfeatures of the invention may be shown exaggerated in scale or insomewhat schematic form in the interest of clarity and conciseness.

With initial reference to FIG. 1, there is provided a train system 100according a first embodiment of the present invention. Train system 100includes a train element that consists exclusively of a single train car102, which train car includes a first use area 104 that is located at afirst end 106 of the train car and a flat car section 108 that islocated at a second end 110 of the train car opposite the first end.Train car 102 is preferably self-powered and self-directing and,therefore, is provided with a drive system 112 for moving the trainalong rails 114 and a control system 116 for providing at least partialautomated control (i.e., computer control) of the train. In preferredembodiments, drive system 112 provides at least one means for drivingthe train car, which may include an all-electric drive system, a dieseldrive system, or a hybrid drive system. Train car 102 is provided with asensor system 118 that collects sensor data, which data is provided, asinputs, to the control system 116 for use in operating the train car aswell as other train cars that are traveling with the train car, and thatare digitally linked but not physically connected to the train car. Apower system 120, which may include one or more electric motors,provides power to the wheels of the train car 102. In preferredembodiments, each train car 102 is self-powered and, therefore, isprovided with its own independent power system 120. This may include,for example, batteries 122, diesel engine, etc. Batteries 122 may berecharged by a diesel engine/generator, power line (e.g., overhead line124, third rail, etc.), regenerative braking, renewable energy sources(e.g., solar cell, wind turbine), etc.

In preferred embodiments, flat car section 108 accommodates and storescommercial or passenger vehicles and may be enclosed or open. Flat carsection 108 includes a drive-on loading area 126, such as an onboardingramp, that enables a vehicle 128 to be driven directly onto and off ofthe train car 102. In certain preferred embodiments, flat car section108 is sized and configured to receive a standard semi-trailer (i.e., a53 foot trailer) separated from tractor unit 130 or while it is stillattached to the tractor unit. In the embodiment of FIG. 1, the flat carsection 108 is formed by a single continuous deck that is sized to allowan entire tractor-trailer to be driven onto the flat car section 108.However, as shown in FIG. 2, in other embodiments flat car section isdivided into a first flat car section 108A and a second flat car section108B that are joined together at an articulating joint 136. Thisarticulating version of the flat car section enables the train car to beloaded with longer loads (e.g., tractor and 53 foot trailer) and forthose loads to be carried on railways having tighter turning radii thanwould be possible without the articulating joint 136.

With reference to FIG. 3, wheeled vehicles 140 of all types may bedriven directly onto the flat car section 108 via drive-on loading area126. This may occur, for example via a ramp, sunken loading dock, orother suitable structure 142. Certain embodiments of the invention maybe provided with a flat car section 108 having a rotating deck 138 thatrotates by an angle Θ (with respect to a longitudinal axis of the traincar 102), which is preferably between 0° and 30°, but could be as muchas 90° or more) to facilitate vehicle 140 driving onto and off of thetrain car 102. Flat car section 108 may be provided with a bumper lock132 (shown in FIG. 1), which engages a portion of the bumper or otherportion of vehicle 128, 140 to secure the vehicle on the flat carsection 108. In addition, in the case of semi-trailers 128, aselectively extendable fifth wheel (not shown) may be provided to engagea king pin of the trailer when the tractor unit is disconnected from thetrailer. Other embodiments of the invention may include tire locks orstraps, recessed areas formed in the top surface of the flat car section108 for cradling tires of vehicles, moveable wheel chocks, and othersimilar devices for securing a vehicle to the flat car section.

First use area 104 is preferably located at a forward or head section oftrain car 102 and is formed as an aerodynamic (i.e., rounded) noseconethat may be configured as a mechanical area to hold equipment or as apassenger area to hold passengers. A train car 102 having acommercial-type first use area 104 is depicted in FIG. 1. The first usearea 104 used in this application preferably has room for equipment,including the drive system 112, control system 116, sensor system 118,and power system 120 (or portions thereof), as well as limitedpersonnel. A train car 102 having a passenger configuration thatincludes first use area 104, which is used exclusively as a mechanicalroom, as well as second use area 134, which is used for passengers, isdepicted in FIG. 3. First and second use areas 104, 134 may be providedwith sleeping bunks for one or more passengers, bathroom and showerfacilities, entertainment amenities (e.g., television), and kitchenfacilities. Other features may include onboard water supplies andstorage tanks (e.g., hot, grey, black water), water purification, andother convenience features such as power inverter for providing ACpower, wireless internet access, etc.

In use, the single train car 102 may be loaded with a vehicle (e.g.,trailer 128 and tractor unit 130, shown in FIG. 1; or passenger vehicle140, shown in FIG. 3) by driving the vehicle directly onto the flat carsection 108 via drive-on loading area 126. Occupants of the vehicle mayremain on the train car 102 in either of the first or second use areas104, 134. This would enable a family, for example, to transport theirvehicle with them as they travel by train car. The use areas 104, 134could also be occupied by operators of a commercial vehicle (e.g.drivers of tractor trailers) or operators of the train car 102. However,as briefly discussed above and as further detailed below, it ispreferable that the train car 102 be fully self-powered andself-operated via computer controls such that limited or no input froman operator, located onboard or remote, is required for train car 102 tobe transported.

In preferred embodiments, each single train car 102 of the presentinvention is capable of operating independently and physically decoupledfrom all other train cars. Advantageously, the self-powered andself-controlled train car 102 of the present invention enables the traincar to travel to its destination as soon as the vehicle, shipment, etc.has been loaded onto the flat car section 108. This, therefore, avoidsthe delays and costs associated with waiting for multiple train cars tobe prepared, arranging those train cars into a particular order, andthen transporting all of the train cars at the same time. Instead, assoon as a single train car 102 is loaded, it may depart to its intendeddestination. As further described below, during that transport process,train cars 102 that are traveling in the same direction may betemporarily digitally linked together to form a digital platoon or adigital train, where the train cars of the train may share resources orinformation, may offload certain guidance functions to other train carswithin the train in order to reduce energy usage, and may arrangethemselves in close proximity to one another to reduce drag on each ofthe cars in the platoon and to make the train more energy efficient.

With reference to FIGS. 4 and 5, there is a shown a rail network 150according to an embodiment of the present invention that includescontrolled portions 152 and open portions 154. Controlled portions 152are relatively small sections of the rail network 150, where train cars102 are generally carefully controlled and are generally moved shortdistances at slow speeds, including, for example, loading and unloadingareas, train stations, etc. An exemplary controlled portion 152 isprovided in FIG. 6. The illustrated controlled portion 152 includes awarehouse 156, etc., where goods may be received or shipped from ontrain cars 102. Goods may also be first loaded onto trailers 128 andhauled by tractors 130 onto train cars 102 for transport. These trailers128 may be stored with or without the truck 130 in storage area 158.Similarly, passenger vehicles 140 may also be driven onto train cars 102via ramps 142 (or other similar loading devices, including sunkenloading docks) located at storage area 158 or warehouse 156 (which couldinclude, for example, a parking garage, etc.).

On the other hand, with reference again to FIGS. 4 and 5, open portions154 are longer sections of the rail network 150, found betweencontrolled portions 152, where train cars 102 travel long distances athigh speeds. The phrase “open rail network” and the term “open”, whenused to describe a portion of a rail network, exclude closed rail loopsor portions of a rail network where the route taken by the train car 102is static and is not customizable or cannot be altered from one trip tothe next trip. In preferred embodiments, train cars 102 may be partiallyor fully controlled by an operator in the controlled portions 152 of therail network 150. However, upon exiting the controlled portion 152,train cars 102 are preferably fully autonomous in the open portions 154of the rail network 150. Train cars 102 and rail network 150 arepreferably provided with geo-fencing functionality (illustrated bydashed and solid boxes), other location detection capabilities (such asgates “A”, “B”, “C”, etc.), etc. to alert operators, either onboard thetrain cars or remote from the train cars, when a train car is enteringor leaving a controlled portion 152, an open portion 154, or sub-section(e.g., 154A, 154B, 154C) of a controlled or open portion of the railnetwork.

While each train car 102 is capable of traveling to its destination byitself, there are certain advantages in multiple train cars travelingtogether along the rail network 150 together, including maximizing spaceon the rail network. For this reason, in preferred embodiments, traincars 102 are configured to join together to form a digitally- but notphysically-linked train. As the term is used throughout thisdescription, a digitally-linked train or, more simply, a “digital train”refers to a collection or grouping of self-powered single train cars 102that are not in physical contact with one another but that are, at leasttemporarily, simultaneously traveling together along a section of therail network 150 at a substantially uniform speed and with asubstantially uniform spacing between each adjacent pair of train cars.Digitally linking train cars 102 eliminates the time and expense ofwaiting for a full train of train cars to be loaded and prepared forshipment and also eliminates the time and expensive of ordering traincars and then coupling them together.

With reference to FIG. 7, there is provided a remote train controlsystem 160 for (sometimes but not necessarily) working jointly withonboard control system 116 (FIG. 1) to fully or partially controllingindividual train cars 102 and digital trains 162 formed by two or moredigitally-connected train cars according to an embodiment of the presentinvention. In preferred embodiments, control system 160 includes one ormore computer systems 164 that communicate with one another and withtrain cars 102, rail networks 150, digital trains 162, conventionaltrains 166 over a network 168 (e.g., Internet, intranet, extranet,cellular, Wi-Fi, etc.). Preferably, all communication over network 168is encrypted.

Control system 160 preferably provides information over network 168,such as current speed and location data as well as destinationinformation, about train cars 102 and trains 162, 166 to other traincars and trains, which enables the train cars and trains to coordinatewith one another in order to operate on the same rail network 150. Forexample, using the information obtained from train control system 160,train cars 102 can plan routes to their destination (i.e., Trip Plans)that avoid conflicts with other train cars or trains 162, 166 that arelocated on the same rail network 150 but that are traveling in theopposite direction or at a different speed. In another example, usingthe information obtained from train control system 160, train cars 102can identify and seek out other train cars that are traveling in thesame direction, and join those train cars to form a platoon.

In preferred embodiments, train cars 102 are provided with a sensorsystem 118 that includes visual and proximity detectors (e.g., laser,camera, etc.) for scanning and identifying hazards along the railway.Control system 116 is preferably configured to automatically respond tothese hazards. Sensor system 118 is also configured to scan and identifyother train cars. Sensor system 118 is preferably configured to detectdistance and speed of train cars in its proximity. Providing thisinformation to control system 116 enables train cars 102 to match thespeed, direction, braking, etc. of other train cars in order to form andoperate as a platoon. Preferably, control and sensor systems 116, 118are configured to read signage or other indicia 174 (FIG. 4) on othertrain cars 102 (e.g., identifying QR codes) or in proximity to the rails114 for identifying information about the rail system 150 and aboutother train cars 102. Indicial may include, for example, directional orspeed control signs, grade information, turn radius information,location signage, etc. Using this information as an input, controlsystem 116 is preferably configured to automatically and safely guidetrain car 102 towards the intended destination and, where appropriate,join and leave platoons of other train cars.

Referring again to FIGS. 4 and 5 and with further reference to FIGS.8-10, several individual train cars 102 are shown traveling in the samedirection along open portion 154 as a platoon 162. Preferably, when aplatoon 162 is formed, individual train cars 102 are automaticallygrouped or positioned within the platoon based on their intendeddestination. For example, in this particular embodiment, the first threetrain cars 102 in the platoon 162 (the rightmost three train cars shownin FIG. 4) are traveling to Gates B, C, and D and are grouped as firstsub-platoon 162′ (FIG. 8). After passing through Gate D, the three traincars 102 will separate from one another and continue traveling,individually, to Gates F, G, and H. However, since the train cars 102are all initially bound for Gate D, they are grouped into the firstsub-platoon 162′ within platoon 162. The fourth and fifth train cars ofthe platoon 162 (the leftmost two cars shown in FIG. 4) are alsotraveling to Gates B and C, but are traveling to Gate E instead of GateD, as second sub-platoon 162″ (FIG. 8). Since these train cars 102 areeach initially traveling to Gate C, they are grouped. However, sincethey are bound for Gate E instead of Gate D, they are placed into secondsub-platoon 162″. It may be appreciated that further sub-platoons oreven sub-platoons within sub-platoons may be created, based on thedestinations of each of the constituent train cars 102 of the platoon162.

Preferably, when a platoon 162 is formed, the leading train car 102functions as a “master” train car and those train cars that follow themaster train car are “slave” train cars. The master train car 102wirelessly (e.g., via a two-way 3G/4G/5G cellular network) providesinformation to the slave train cars and, preferably, controls (i.e.,partially or fully) the speed and direction of the slave train cars. Theslave train cars 102 also provide information to each other and to themaster train car via a wireless or cellular network. The designation ofa train car 102 as a “master” or “slave” may change under severalcircumstances. For example, if the platoon 162 is traveling in onedirection, the leading train car 102 would function as the master traincar followed by slave cars. However, if the platoon 162 were to changedirection (i.e., travel in reverse), the rearmost train car 102 could beconfigured to function as the master train car.

Preferably, to reduce energy usage of the platoon 162, the sensorsystems 118 of the slave train cars 102 are partially or fullydisengaged once a master train car has taken control of the platoon.Instead, the platoon 162 relies on the sensor system 118 of the mastertrain car 102 to make observations (e.g., forward-facing and rear-facingobservations) and then, based on those observations, to make speed,direction, and other decisions for all of the train cars in the platoon.For example, if a hazard is observed on an upcoming portion of the rails114 by the sensor system 118 of the master train car 102, the controlsystem 116 of the master train car may be configured to automaticallyrespond to that hazard (e.g., by slowing down, stopping, etc.) and tocause each of the slave train cars to respond in a similar manner. Inanother example, the sensor system 118 of the master train car 102 mayobserve signage for a location, junction, etc. and then, in response tothat information, the control system 116 makes an appropriate response(e.g., turn left, turn right) that is based on the destination of thetrain car. In some embodiments, the observations by the sensor system118 of the master train car 102 is wirelessly transmitted to a trailingtrain car (e.g., the immediate next train car in the platoon behind themaster train car) and then that control system 116 of that trailingtrain car makes any necessary adjustments for that train car alone. Theinformation may be sent rearwards, train car by train car, through theplatoon 162.

To further reduce energy usage of the platoon 162, when forming aplatoon 162, train cars 102 are preferably spaced closely to one anotherto provide a first gap 170 between each adjacent train car, such thatthe platoon resembles a conventional train formed byphysically-connected train cars. Preferably, first gap 170 is between3-20 feet. Spacing adjacent train cars 102 closely together in theplatoon 162 reduces drag on each of the train cars following the leadingtrain car. Similarly, to increase safety, a minimum second gap 172 ispreferably provided between each adjacent platoon 162. By providing thisminimum second gap 172, a platoon 162 would have a sufficient amount oftime to observe a problem ahead (e.g., an accident involving the platoonahead) and to respond. Preferably, second gap 172 is at least 600 feet.Advantageously, since train cars 102 are not physically connected to oneanother, a much shorter stopping distance is required to stop themcompared to a typical freight train, which can average ½ mile(approximately 2,500 feet).

As the number and configuration of platoons 162 changes, different traincars 102 within those platoons may operate as the master train car. If asingle platoon 162 were to be divided into two separate platoons, asecond leading train car 102 would be designated as the master train carof the second platoon and the original leading train car would remainthe master train car of the first platoon. This process is illustratedin FIGS. 4 and 8-10. As shown in FIGS. 4 and 8, open section 154includes a first section 154A, where the platoon 162 is operating in acommuting mode. Commuting mode is the standard mode of operation of aplatoon 162, where each train car 102 is separated from each adjacenttrain car by first gap 170. The train cars 102 are preferably travelingat approximately the same speed and are partially or fully controlled bya leading master train car (denoted by a beacon symbol).

In general, platoons 162 operate in commuting mode for the majority ofthe trip. However, as train cars 102 enter or leave the platoon, theplatoon is reconfigured. For example, as a platoon approaches adiverging junction point, where one sub-platoon (or even a single traincar) is traveling in one direction (e.g., North) and another sub-platoon(or single train car) is traveling in another direction (e.g., South),it is necessary to decouple the platoon. This process is shown in FIGS.4, 9, and 10, where rail network 150 includes decoupling section 154Band a separation section 154C. At decoupling section 154B, sub-platoon162″ is decoupled from sub-platoon 162′ to provide a second gap 172between them. The leading train car 102 of each is designated as themaster train car and controls each respective sub-platoon. In separationsection 154C, sub-platoon 162′ is guided towards Gate D by master traincar 102′ at the diverging junction. Later, sub-platoon 162″ is guidedtowards Gate E by master train car 102″ at the diverging junction.

In preferred embodiments, train cars 102 are each configured to engage a“Trip Plan” that includes a list of instructions for directing the traincar to a destination. Preferably, Trip Plans are based, in part, on theinformation provided by the control system 160 as well as newinformation obtained during the trip, including updated informationprovided by the control system and also new information obtained fromthe on-board sensor system 118. When platooning, trip plans for each mayalso be updated based on information obtained by other train cars in theplatoon. Accordingly, Trip Plans are preferably not static, but may beupdated as necessary to account for new information (e.g., updateddestination, new platooning opportunity), operating conditions (e.g.,wildlife, weather, and other hazards), etc. In preferred embodiments, asecure log (e.g., a log utilizing distributed ledger/block chaintechnology) catalogs the location of each train car 102 and may includea running log of its movements. For example, an entry may be made in thelog every time a train car has met or has failed to meet an objective orstep in the Trip Plan, every time the Trip Plan is updated, etc.

Below is an example Trip Plan for a train car named “ABC”:

Step 1. Depart Dock Al heading South at 9:35 AM.

Step 2. Accelerate and maintain 37 mph for 22 minutes.

Step 3. Switch to southbound rail at “1234” junction.

Step 4. Accelerate and maintain 45 mph for 12 minutes.

Step 5. Stop at gate 12 for 7 minutes to allow passage of conventionaltrain unit.

Step 6. At all clear—Accelerate and maintain 55 mph for 20 minutes.

Step 7. Intercept and establish digital link to train car “XYZ”.

Step 8. Accept control of train car XYZ as Master train car.

Step 9. Intercept and establish digital link to Master train car “EFG”.

Step 10. Release control of train car ABC and XYZ to Master train carEFG.

Step 11. Follow Master train car EFG for 1,345 miles to Pendleton, Oreg.

Step 12. Re-engage individual control and control of train car XYZ.

Step 13. Accelerate and maintain 45 mph for 23 minutes.

Step 14. Decelerate to 5 mph.

Step 15. Park at Dock 12 at 1:12 AM.

Although this description contains many specifics, these should not beconstrued as limiting the scope of the invention but as merely providingillustrations of some of the presently preferred embodiments thereof, aswell as the best mode contemplated by the inventor of carrying out theinvention. The invention, as described and claimed herein, issusceptible to various modifications and adaptations as would beappreciated by those having ordinary skill in the art to which theinvention relates.

What is claimed is:
 1. A method for operating train elements comprisingthe steps of: A. providing an open rail system and two or more of saidtrain elements; B. providing a trip plan for each of the two or moretrain elements that includes instructions for traveling along the openrail system to a first destination; C. moving the two or more trainelements, independently of one another, along a portion of the railsystem; and D. autonomously coupling the two or more train elementstogether to form a digital train according to instructions provided bythe trip plans.
 2. The method of claim 1 wherein the digital trainincludes a master train element that leads the digital train and atleast one slave train element following the master train element,wherein the master train element determines the speed and direction ofeach train element of the digital train.
 3. The method of claim 1,wherein at least one of the two or more train elements is configured totravel along the rail system to an intended second destination afterreaching the first destination, the method further comprising the stepof: E. automatically platooning train elements into at least twoplatoons during coupling step (C), based on the first destination andsecond destination of the train elements, such that train elementshaving the same first and second destination form a platoon and areadjacent one another in the digital train.
 4. The method of claim 1wherein at least two of the two or more train elements are configured totravel along the rail system to an intended second destination afterreaching the first destination, the method further comprising the stepof: F. automatically platooning train elements into at least twoplatoons during coupling step (C), based on the first destination andsecond destination of the train elements, such that train elementshaving the same first and second destination form a platoon and areadjacent one another in the digital train.
 5. The method of claim 4further comprising the step of: G. prior to the first destination, whichfirst destination divides the portion of the rail system on which thedigital train is traveling into two or more separate routes, including afirst route and a second route, where the first route leads to thesecond destination of one of the at least two platoons and the secondroute leads to the second destination of a second of the at least twoplatoons, decoupling the digital train to form two digital trains thateach include one of the at least two platoons and that are each led by adifferent master train element.
 6. The method of claim 5 furthercomprising the steps of: at coupling Step (C), forming substantiallyuniform couple gaps of a first length between each adjacent pair oftrain elements in the digital train; and at decoupling Step (F), forminga decouple gap having a second length between the two digital trains,wherein the second length is greater than the first length.
 7. Themethod of claim 6 wherein at least one of the first length and thesecond length are speed dependent.
 8. A method operating train elementscomprising the steps of: A. providing a train system comprising one ormore train elements, each train element consisting of a single train carthat is configured to travel along an open rail system, the single traincar comprising an enclosed first use area located at a first end of thetrain car and a flat car section, including a drive-on loading area thatis configured to enable a vehicle to be driven onto and transported,located at a second end of the train car opposite the first use area; B.for each train element, providing a drive system configured to move thetrain element along the rail system; C. for each train element,providing a power system for independently powering the drive system; D.providing a control system configured to autonomously control theoperation of the train system; E. providing a sensor system configuredto collect sensor data and to provide sensor data, as inputs, to thecontrol system that are used by the control system in operating thetrain system. F. operating the train system such that at least one ofthe one or more train elements is driven along the rail system by thedrive system, which is powered by the power system, and while beingcontrolled by the control system using sensor data from the sensorsystem.
 9. The method of claim 8 further comprising the step ofproviding a separate control system for controlling the operation ofeach of the one or more train elements.
 10. The method of claim 9further comprising sending a communication from a control system of afirst train element to the control system of a second train element tocoordinate the operation of the first and second train elements on therail system.
 11. The method of claim 9 wherein a control system of afirst one of the one or more train elements temporarily assumes controlof a second one of the one or more train elements while the first andsecond train elements travel along the rail system together.
 12. Themethod of claim 8 further comprising the step of providing said railsystem.
 13. The method of claim 8 further comprising the steps of:providing two or more train elements; providing a trip plan for each ofthe two or more train elements that includes instructions for travelingalong said rail system to a first destination; moving the one or moretrain elements, independently of one another, along a portion of therail system toward the first destination according to the trip plan;autonomously coupling the two or more train elements together to form adigital train according to instructions provided by the trip plans;moving the digital train to the first destination.